def check_vehicle_sensor_entry(s):
if not isinstance(s, dict):
raise BadConfig(s, 'I expect this to be a dictionary, not %s' %
describe_type(s))
if 'pose' in s:
check_valid_pose_spec(s['pose'])
alternatives = [('sensor', dict), ('id_sensor', str)]
check_has_exactly_one(s, alternatives)
if 'sensor' in s:
wrap_check(s, 'checking "sensor" entry',
check_valid_sensor_config, s['sensor'])
def check_valid_simulation_config(x):
vehicles_alt = [('vehicle', dict), ('id_vehicle', str)]
check_has_exactly_one(x, vehicles_alt)
if 'vehicle' in x:
wrap_check(x, 'checking "vehicle" field',
check_valid_vehicle_config, x['vehicle'])
world_alt = [('world', dict), ('id_world', str)]
check_has_exactly_one(x, world_alt)
if 'world' in x:
wrap_check(x, 'checking "world" field',
check_valid_world_config, x['world'])
def check_valid_simulation_config(x):
vehicles_alt = [('vehicle', dict), ('id_vehicle', str)]
check_has_exactly_one(x, vehicles_alt)
if 'vehicle' in x:
wrap_check(x, 'checking "vehicle" field', check_valid_vehicle_config,
x['vehicle'])
world_alt = [('world', dict), ('id_world', str)]
check_has_exactly_one(x, world_alt)
if 'world' in x:
wrap_check(x, 'checking "world" field', check_valid_world_config,
x['world'])
def check_valid_vehicle_config(x):
if not isinstance(x, dict):
raise ValueError('Must be a dictionary.')
necessary = [('id', str),
('sensors', list),
('radius', (float, int))]
check_necessary(x, necessary)
dynamics_alt = [('dynamics', dict), ('id_dynamics', str)]
check_has_exactly_one(x, dynamics_alt)
if 'dynamics' in x:
wrap_check(x, 'checking "dynamics" field',
check_valid_dynamics_config, x['dynamics'])
for i, s in enumerate(x['sensors']):
wrap_check(x, 'checking #%d sensors entry' % i,
check_vehicle_sensor_entry, s)